/**

This file is part of MaCI/GIMnet.

MaCI/GIMnet is free software: you can redistribute it and/or modify it 
under the terms of the GNU Lesser General Public License as published 
by the Free Software Foundation, either version 3 of the License, or 
(at your option) any later version.

MaCI/GIMnet is distributed in the hope that it will be useful, but WITHOUT 
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or 
FITNESS FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public 
License for more details.

You should have received a copy of the GNU Lesser General Public 
License along with GIMnet. (See COPYING.LESSER) If not, see 
<http://www.gnu.org/licenses/>.

**/
#include <math.h>


void calc2D_Xpri(double *,double *,double ,int);
void calc2D_Ppri(double *,double *,double * ,int );
void calc2D_Xpos(double *,double *,double *,int);
void calc2D_PK(double *,double *,double *,double *,double *,int);
void calc2D_CPC(double *,double *,double *,double *,double *,int ,int);
void calc2D_CPC_ini(double *,double *,double *,double *,double *,int ,int,int,int);
void proj2D_bearingfun(double *,double *,double *,double *,double *,int);
void proj2D_struct_bearingfun(double *,double *,double *,double *,int);
void slam2D_add_features(double *,double *,int,int);
void slam2D_pred(double *,double *,double *,double *,int);
void slam2D_bearingmeas(double *,double *,double *,double *,double *,double *,double *,int,int,double *);
void slam2D_ini_iter(double *,double *,double *,double *,double *,double *,double *,int,int,int,int,double *);
void slam2D_ini(double *,double *,double *,double *,double *,double *,double *,int,int,int,double *);
void calc2D_Ce(double *,double *,double *,int,int,int);
void calc2D_CC(double *,double *,int,int,int,int);
void calc2D_pose_Ce(double *,double *,double *,int);
void calc2D_pose_CC(double *,double *,int,int);
void calc2Dlink_Ce(double *,double *,int,int,int);
void calc2Dlink_CC(double *,int,int,int,int);
void proj2D_linefun(double *,double *,double *,double *,double *,int);
void proj2D_struct_linefun(double *,double *,double *,double *,double *,int);
void proj2D_pose_linefun(double *,double *,double *,double *,double *,int);
void proj2D_fun(double *,double *,double *,double *,double *,int);
